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<li class="navelem"><a class="el" href="dir_692f640cc74363071c5c0e14282656e9.html">algorithm</a></li>  </ul>
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<div class="title">pino_kin_dyn.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;pinocchio/parsers/urdf.hpp&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/jacobian.hpp&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/kinematics.hpp&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/frames.hpp&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/joint-configuration.hpp&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/rnea.hpp&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/crba.hpp&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/centroidal.hpp&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;pinocchio/algorithm/aba.hpp&quot;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;data_bus.h&quot;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;json/json.h&quot;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;{</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">   31</a></span>&#160;    std::vector&lt;bool&gt; <a class="code" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">motorReachLimit</a>; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a> = {<span class="stringliteral">&quot;J_arm_l_01&quot;</span>, <span class="stringliteral">&quot;J_arm_l_02&quot;</span>, <span class="stringliteral">&quot;J_arm_l_03&quot;</span>, <span class="stringliteral">&quot;J_arm_l_04&quot;</span>, <span class="stringliteral">&quot;J_arm_l_05&quot;</span>,</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                                                <span class="stringliteral">&quot;J_arm_l_06&quot;</span>, <span class="stringliteral">&quot;J_arm_l_07&quot;</span>, <span class="stringliteral">&quot;J_arm_r_01&quot;</span>, <span class="stringliteral">&quot;J_arm_r_02&quot;</span>, <span class="stringliteral">&quot;J_arm_r_03&quot;</span>,</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                                                <span class="stringliteral">&quot;J_arm_r_04&quot;</span>, <span class="stringliteral">&quot;J_arm_r_05&quot;</span>, <span class="stringliteral">&quot;J_arm_r_06&quot;</span>, <span class="stringliteral">&quot;J_arm_r_07&quot;</span>,</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                                                <span class="stringliteral">&quot;J_head_yaw&quot;</span>, <span class="stringliteral">&quot;J_head_pitch&quot;</span>, <span class="stringliteral">&quot;J_waist_pitch&quot;</span>, <span class="stringliteral">&quot;J_waist_roll&quot;</span>, <span class="stringliteral">&quot;J_waist_yaw&quot;</span>,</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                                                <span class="stringliteral">&quot;J_hip_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>, <span class="stringliteral">&quot;J_hip_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>,</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;                                                <span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>,</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                                                <span class="stringliteral">&quot;J_hip_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>}; <span class="comment">// joint name in urdf and jason config files</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">   40</a></span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">motorMaxTorque</a>;                                                                                      </div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">   41</a></span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">motorMaxPos</a>;                                                                                         </div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">   42</a></span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">motorMinPos</a>;                                                                                         </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">   44</a></span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">tauJointOld</a>; </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a41fd7d14a83467e248a4392cddafd0d3">   45</a></span>&#160;    std::string <a class="code" href="classPin__KinDyn.html#a41fd7d14a83467e248a4392cddafd0d3">urdf_path</a>;       </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    pinocchio::Model model_biped;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    pinocchio::Model model_biped_fixed;</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">   48</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    pinocchio::JointIndex r_ankle_joint, l_ankle_joint, base_joint, r_hip_joint, l_hip_joint;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    pinocchio::JointIndex r_ankle_joint_fixed, l_ankle_joint_fixed, r_hip_joint_fixed, l_hip_joint_fixed;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    pinocchio::JointIndex r_hand_joint, l_hand_joint, r_hand_joint_fixed, l_hand_joint_fixed;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">   52</a></span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>,                 </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">   53</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>,                            </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">   54</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">ddq</a>;                           </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">   55</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Rcur</a>;              </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#af0fb61fda80f8ddb27a0bf84ea112f31">   56</a></span>&#160;    Eigen::Quaternion&lt;double&gt; <a class="code" href="classPin__KinDyn.html#af0fb61fda80f8ddb27a0bf84ea112f31">quatCur</a>; </div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">   57</a></span>&#160;    Eigen::Matrix&lt;double, 6, -1&gt; <a class="code" href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">J_base</a>, </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">   58</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">J_l</a>,                             </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">   59</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">J_r</a>,                             </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">   60</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">J_hd_l</a>,                          </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">   61</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">J_hd_r</a>;                          </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">   62</a></span>&#160;    Eigen::Matrix&lt;double, 6, -1&gt; <a class="code" href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">dJ_base</a>,         </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">   63</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">dJ_l</a>,                                     </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">   64</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">dJ_r</a>,                                     </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">   65</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">dJ_hd_l</a>,                                  </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">   66</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">dJ_hd_r</a>;                                  </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">   67</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">fe_r_pos</a>,       </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">   68</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">fe_l_pos</a>,                   </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a79512bb0eb39b4ba78d0c36ce1a739cf">   69</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a79512bb0eb39b4ba78d0c36ce1a739cf">base_pos</a>;                   </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ab39ac8df8d6b69f53d985eca28177b34">   70</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#ab39ac8df8d6b69f53d985eca28177b34">fe_r_pos_body</a>,  </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#afed034fe61edaa6aa36df8c901fc9e28">   71</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#afed034fe61edaa6aa36df8c901fc9e28">fe_l_pos_body</a>;              </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#aba5b9af499a3c3f81f490b54e34991c6">   72</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#aba5b9af499a3c3f81f490b54e34991c6">hd_r_pos</a>,       </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a8de858c5bd62babd3d36df437e08be92">   73</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a8de858c5bd62babd3d36df437e08be92">hd_l_pos</a>;                   </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#aac50fbd6bdff3bc838de986315bf8cd7">   74</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#aac50fbd6bdff3bc838de986315bf8cd7">hd_r_pos_body</a>,  </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a5eba5c788410fe05e5fe243631f9e3b2">   75</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a5eba5c788410fe05e5fe243631f9e3b2">hd_l_pos_body</a>;              </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#afc16893d044c20781a288c5c1710257f">   76</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#afc16893d044c20781a288c5c1710257f">hip_r_pos</a>,      </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a49cf98ca47a3074a6318dfb72227913a">   77</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a49cf98ca47a3074a6318dfb72227913a">hip_l_pos</a>;                  </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a541ccf408ed784361c031921a93137db">   78</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#a541ccf408ed784361c031921a93137db">hip_r_pos_body</a>, </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">   79</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">hip_l_pos_body</a>;             </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">   80</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">fe_r_rot</a>,       </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">   81</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">fe_l_rot</a>,                   </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a743c47fe851c5dee9b852b760e9bf809">   82</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a743c47fe851c5dee9b852b760e9bf809">base_rot</a>;                   </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">   83</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">fe_r_rot_body</a>,  </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">   84</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">fe_l_rot_body</a>;              </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">   85</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">hd_r_rot</a>,       </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">   86</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">hd_l_rot</a>;                   </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">   87</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">hd_r_rot_body</a>,  </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">   88</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">hd_l_rot_body</a>;              </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">   89</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">dyn_M</a>,          </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">   90</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">dyn_M_inv</a>,                  </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">   91</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">dyn_C</a>,                      </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">   92</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">dyn_G</a>,                      </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">   93</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">dyn_Ag</a>,                     </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">   94</a></span>&#160;        <a class="code" href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">dyn_dAg</a>;                    </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">   95</a></span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">dyn_Non</a>;        </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a186ab4dcf146680f38113f9cbd55de24">   96</a></span>&#160;    Eigen::Vector3d <a class="code" href="classPin__KinDyn.html#a186ab4dcf146680f38113f9cbd55de24">CoM_pos</a>;        </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">   97</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">inertia</a>;        </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a611e5a3180d568a0d8be21a917ab3880">  102</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="classPin__KinDyn.html#a611e5a3180d568a0d8be21a917ab3880">legIdx</a></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        left,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        right</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    };</div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structPin__KinDyn_1_1IkRes.html">  111</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structPin__KinDyn_1_1IkRes.html">IkRes</a></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    {</div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">  113</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">status</a>;                  </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structPin__KinDyn_1_1IkRes.html#a0d63c9ab89199854133715615d85e552">  114</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structPin__KinDyn_1_1IkRes.html#a0d63c9ab89199854133715615d85e552">itr</a>;                     </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structPin__KinDyn_1_1IkRes.html#adecc161fc3130c4343a30ae745db4c05">  115</a></span>&#160;        Eigen::VectorXd <a class="code" href="structPin__KinDyn_1_1IkRes.html#adecc161fc3130c4343a30ae745db4c05">err</a>;         </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structPin__KinDyn_1_1IkRes.html#ad8634d06c47f0ed2a216fe051b15ba46">  116</a></span>&#160;        Eigen::VectorXd <a class="code" href="structPin__KinDyn_1_1IkRes.html#ad8634d06c47f0ed2a216fe051b15ba46">jointPosRes</a>; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    };</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">Pin_KinDyn</a>(std::string urdf_pathIn);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">dataBusRead</a>(<a class="code" href="structDataBus.html">DataBus</a> <span class="keyword">const</span> &amp;robotState);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">computeJ_dJ</a>();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">computeDyn</a>();</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="structPin__KinDyn_1_1IkRes.html">IkRes</a> <a class="code" href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">computeInK_Leg</a>(<span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_L, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_L, <span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_R, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_R);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <a class="code" href="structPin__KinDyn_1_1IkRes.html">IkRes</a> <a class="code" href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">computeInK_Hand</a>(<span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_L, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_L, <span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_R, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_R);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">integrateDIY</a>(<span class="keyword">const</span> Eigen::VectorXd &amp;qI, <span class="keyword">const</span> Eigen::VectorXd &amp;dqI);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">static</span> Eigen::Quaterniond <a class="code" href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">intQuat</a>(<span class="keyword">const</span> Eigen::Quaterniond &amp;quat, <span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 1&gt; &amp;w);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">workspaceConstraint</a>(Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    pinocchio::Data data_biped, data_biped_fixed;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;};</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassPin__KinDyn_html_a432f42a03a22037c6e5372559269a711"><div class="ttname"><a href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">Pin_KinDyn::dataBusRead</a></div><div class="ttdeci">void dataBusRead(DataBus const &amp;robotState)</div><div class="ttdoc">read data from databus</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00071">pino_kin_dyn.cpp:71</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ade120aa2bb6cfbf18868b666e77e4711"><div class="ttname"><a href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">Pin_KinDyn::fe_l_pos</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos</div><div class="ttdoc">left foot-end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00068">pino_kin_dyn.h:68</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a0b23dde50899e66163d9ba2794c27ded"><div class="ttname"><a href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">Pin_KinDyn::motorMinPos</a></div><div class="ttdeci">Eigen::VectorXd motorMinPos</div><div class="ttdoc">minimal position of motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00042">pino_kin_dyn.h:42</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a743c47fe851c5dee9b852b760e9bf809"><div class="ttname"><a href="classPin__KinDyn.html#a743c47fe851c5dee9b852b760e9bf809">Pin_KinDyn::base_rot</a></div><div class="ttdeci">Eigen::Matrix3d base_rot</div><div class="ttdoc">base rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00082">pino_kin_dyn.h:82</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a541ccf408ed784361c031921a93137db"><div class="ttname"><a href="classPin__KinDyn.html#a541ccf408ed784361c031921a93137db">Pin_KinDyn::hip_r_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos_body</div><div class="ttdoc">right hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00078">pino_kin_dyn.h:78</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aac50fbd6bdff3bc838de986315bf8cd7"><div class="ttname"><a href="classPin__KinDyn.html#aac50fbd6bdff3bc838de986315bf8cd7">Pin_KinDyn::hd_r_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_body</div><div class="ttdoc">right hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00074">pino_kin_dyn.h:74</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_afed034fe61edaa6aa36df8c901fc9e28"><div class="ttname"><a href="classPin__KinDyn.html#afed034fe61edaa6aa36df8c901fc9e28">Pin_KinDyn::fe_l_pos_body</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_body</div><div class="ttdoc">left foot-end position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00071">pino_kin_dyn.h:71</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a68879a33dfce772d488dcc245f54255b"><div class="ttname"><a href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">Pin_KinDyn::J_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_r</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00059">pino_kin_dyn.h:59</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a5eba5c788410fe05e5fe243631f9e3b2"><div class="ttname"><a href="classPin__KinDyn.html#a5eba5c788410fe05e5fe243631f9e3b2">Pin_KinDyn::hd_l_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_body</div><div class="ttdoc">left hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00075">pino_kin_dyn.h:75</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab64e10d5034313bf4d7fc54e385686ad"><div class="ttname"><a href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">Pin_KinDyn::dyn_C</a></div><div class="ttdeci">Eigen::MatrixXd dyn_C</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00091">pino_kin_dyn.h:91</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae58983c97f5e2f879f10054c6ba39e86"><div class="ttname"><a href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">Pin_KinDyn::dJ_hd_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_hd_r</div><div class="ttdoc">jacobian time variation matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00066">pino_kin_dyn.h:66</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a2b0c660fb563a580dde4f7d21d1737b0"><div class="ttname"><a href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">Pin_KinDyn::motorMaxPos</a></div><div class="ttdeci">Eigen::VectorXd motorMaxPos</div><div class="ttdoc">maximal position of motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00041">pino_kin_dyn.h:41</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a77dca70b3681c902798dc281c54a1791"><div class="ttname"><a href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">Pin_KinDyn::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00095">pino_kin_dyn.h:95</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div><div class="ttdoc">the result of inverse kinematic</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00111">pino_kin_dyn.h:111</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a79512bb0eb39b4ba78d0c36ce1a739cf"><div class="ttname"><a href="classPin__KinDyn.html#a79512bb0eb39b4ba78d0c36ce1a739cf">Pin_KinDyn::base_pos</a></div><div class="ttdeci">Eigen::Vector3d base_pos</div><div class="ttdoc">base position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00069">pino_kin_dyn.h:69</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae6cb6e20875996c6243cc289f6bf127c"><div class="ttname"><a href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">Pin_KinDyn::fe_r_pos</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos</div><div class="ttdoc">right foot-end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00067">pino_kin_dyn.h:67</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a63a9d828bf82b54e7f6af65267b00b87"><div class="ttname"><a href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">Pin_KinDyn::hip_l_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_body</div><div class="ttdoc">left hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00079">pino_kin_dyn.h:79</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a81eda1dcd228a9ab0c1d7de3993e6bf6"><div class="ttname"><a href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">Pin_KinDyn::motorMaxTorque</a></div><div class="ttdeci">Eigen::VectorXd motorMaxTorque</div><div class="ttdoc">maximal torques of motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00040">pino_kin_dyn.h:40</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_afd752ffe2b038e1386023d41326574c8"><div class="ttname"><a href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">Pin_KinDyn::computeInK_Leg</a></div><div class="ttdeci">IkRes computeInK_Leg(const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</div><div class="ttdoc">compute inverse kinematic of robot legs</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00244">pino_kin_dyn.cpp:244</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6d4d0b0e6535369bafaf10648502b4b5"><div class="ttname"><a href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">Pin_KinDyn::dJ_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_l</div><div class="ttdoc">jacobian time variation matrix of left leg</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00063">pino_kin_dyn.h:63</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a5268234bf043cf654a03ce51dfa315e1"><div class="ttname"><a href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">Pin_KinDyn::workspaceConstraint</a></div><div class="ttdeci">void workspaceConstraint(Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT)</div><div class="ttdoc">constraint the joint output torques</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00420">pino_kin_dyn.cpp:420</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a2406329f82787e92aa8c3cfab10bda70"><div class="ttname"><a href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">Pin_KinDyn::hd_l_rot</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot</div><div class="ttdoc">left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00086">pino_kin_dyn.h:86</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aba6977419785158480f4695fd3fec5dc"><div class="ttname"><a href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">Pin_KinDyn::model_nv</a></div><div class="ttdeci">int model_nv</div><div class="ttdoc">model degree of freedom</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00048">pino_kin_dyn.h:48</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a860130a4374ecd0080a0e68830147f87"><div class="ttname"><a href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">Pin_KinDyn::hd_l_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_body</div><div class="ttdoc">left hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00088">pino_kin_dyn.h:88</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae7e6121409beacc2a4c1f3214012a467"><div class="ttname"><a href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">Pin_KinDyn::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of the dynamic parameters M</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00090">pino_kin_dyn.h:90</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html"><div class="ttname"><a href="classPin__KinDyn.html">Pin_KinDyn</a></div><div class="ttdoc">This class implement the kinematic and dynamics of robot using pinocchio.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00028">pino_kin_dyn.h:28</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a508a92b965d4044c361cc7a41afcb4b4"><div class="ttname"><a href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">Pin_KinDyn::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00093">pino_kin_dyn.h:93</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab39ac8df8d6b69f53d985eca28177b34"><div class="ttname"><a href="classPin__KinDyn.html#ab39ac8df8d6b69f53d985eca28177b34">Pin_KinDyn::fe_r_pos_body</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_body</div><div class="ttdoc">right foot-end position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00070">pino_kin_dyn.h:70</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aba5b9af499a3c3f81f490b54e34991c6"><div class="ttname"><a href="classPin__KinDyn.html#aba5b9af499a3c3f81f490b54e34991c6">Pin_KinDyn::hd_r_pos</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos</div><div class="ttdoc">right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00072">pino_kin_dyn.h:72</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_adcb1509a37999bcbf637a95786b19efa"><div class="ttname"><a href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">Pin_KinDyn::fe_r_rot</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot</div><div class="ttdoc">right foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00080">pino_kin_dyn.h:80</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_af0fb61fda80f8ddb27a0bf84ea112f31"><div class="ttname"><a href="classPin__KinDyn.html#af0fb61fda80f8ddb27a0bf84ea112f31">Pin_KinDyn::quatCur</a></div><div class="ttdeci">Eigen::Quaternion&lt; double &gt; quatCur</div><div class="ttdoc">current quaternion</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00056">pino_kin_dyn.h:56</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_ad8634d06c47f0ed2a216fe051b15ba46"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#ad8634d06c47f0ed2a216fe051b15ba46">Pin_KinDyn::IkRes::jointPosRes</a></div><div class="ttdeci">Eigen::VectorXd jointPosRes</div><div class="ttdoc">joint position of calculation</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00116">pino_kin_dyn.h:116</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a87b2bf2c470ab43b90913000ac0d4f65"><div class="ttname"><a href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">Pin_KinDyn::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00094">pino_kin_dyn.h:94</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8de858c5bd62babd3d36df437e08be92"><div class="ttname"><a href="classPin__KinDyn.html#a8de858c5bd62babd3d36df437e08be92">Pin_KinDyn::hd_l_pos</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos</div><div class="ttdoc">left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00073">pino_kin_dyn.h:73</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_adbc3d08c55bc3f94acf14cfe7e735eb3"><div class="ttname"><a href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">Pin_KinDyn::fe_r_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_body</div><div class="ttdoc">right foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00083">pino_kin_dyn.h:83</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a9b1bd4ea240aa79f8316ac62f6ff7771"><div class="ttname"><a href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">Pin_KinDyn::J_base</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_base</div><div class="ttdoc">jacobian matrix of the base link</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00057">pino_kin_dyn.h:57</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_a55448e59ec34c0dd7df4f61e6784cfb9"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">Pin_KinDyn::IkRes::status</a></div><div class="ttdeci">int status</div><div class="ttdoc">whether calculate successfully</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00113">pino_kin_dyn.h:113</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a879924f751764037e0c43570ac40ffab"><div class="ttname"><a href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Pin_KinDyn::Rcur</a></div><div class="ttdeci">Eigen::Matrix3d Rcur</div><div class="ttdoc">current rotation matrix of robot in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00055">pino_kin_dyn.h:55</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aa8801df8ff914baf5a07643afe6b80ca"><div class="ttname"><a href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">Pin_KinDyn::hd_r_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_body</div><div class="ttdoc">right hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00087">pino_kin_dyn.h:87</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a697a29a765cf30888bbf5bcd3c30da02"><div class="ttname"><a href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">Pin_KinDyn::tauJointOld</a></div><div class="ttdeci">Eigen::VectorXd tauJointOld</div><div class="ttdoc">last torques of joint</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00044">pino_kin_dyn.h:44</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a7fc88a3c811004ff7feb508dce849e65"><div class="ttname"><a href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">Pin_KinDyn::computeDyn</a></div><div class="ttdeci">void computeDyn()</div><div class="ttdoc">compute the dynmaics coefficient of robot</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00204">pino_kin_dyn.cpp:204</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a61b9dfb8b579bbe132c0f1e48d2b4db7"><div class="ttname"><a href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">Pin_KinDyn::intQuat</a></div><div class="ttdeci">static Eigen::Quaterniond intQuat(const Eigen::Quaterniond &amp;quat, const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;w)</div><div class="ttdoc">integrate quaternion helper function used in intergrateDIY</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00165">pino_kin_dyn.cpp:165</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a3d2d699d8fb1754f980477615515638c"><div class="ttname"><a href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">Pin_KinDyn::computeJ_dJ</a></div><div class="ttdeci">void computeJ_dJ()</div><div class="ttdoc">compute the jacobian matrix and jacobian time variant matrix</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00121">pino_kin_dyn.cpp:121</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_a0d63c9ab89199854133715615d85e552"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#a0d63c9ab89199854133715615d85e552">Pin_KinDyn::IkRes::itr</a></div><div class="ttdeci">int itr</div><div class="ttdoc">iteration to calculate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00114">pino_kin_dyn.h:114</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a611e5a3180d568a0d8be21a917ab3880"><div class="ttname"><a href="classPin__KinDyn.html#a611e5a3180d568a0d8be21a917ab3880">Pin_KinDyn::legIdx</a></div><div class="ttdeci">legIdx</div><div class="ttdoc">leg index</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00102">pino_kin_dyn.h:102</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_adecc161fc3130c4343a30ae745db4c05"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#adecc161fc3130c4343a30ae745db4c05">Pin_KinDyn::IkRes::err</a></div><div class="ttdeci">Eigen::VectorXd err</div><div class="ttdoc">error of calculation</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00115">pino_kin_dyn.h:115</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab21a25c6745c2a38a88d99686fcac914"><div class="ttname"><a href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">Pin_KinDyn::dJ_base</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_base</div><div class="ttdoc">jacobian time variation matrix of base link</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00062">pino_kin_dyn.h:62</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a157366596bcb2d276f63ccadeb71c4b5"><div class="ttname"><a href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">Pin_KinDyn::J_hd_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00061">pino_kin_dyn.h:61</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a1a645b13e20a97675f7d7f88ce32d3e2"><div class="ttname"><a href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">Pin_KinDyn::motorName</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; motorName</div><div class="ttdoc">all the names of the motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00033">pino_kin_dyn.h:33</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ac4040e935721db8ea7cf0fad90599ad7"><div class="ttname"><a href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">Pin_KinDyn::fe_l_rot</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot</div><div class="ttdoc">left foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00081">pino_kin_dyn.h:81</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab48b18384639b211ac70cdb670a6dd90"><div class="ttname"><a href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">Pin_KinDyn::fe_l_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_body</div><div class="ttdoc">left foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00084">pino_kin_dyn.h:84</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a49cf98ca47a3074a6318dfb72227913a"><div class="ttname"><a href="classPin__KinDyn.html#a49cf98ca47a3074a6318dfb72227913a">Pin_KinDyn::hip_l_pos</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos</div><div class="ttdoc">left hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00077">pino_kin_dyn.h:77</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8c15990b1d6a9bfdbeea23bdc7edef0a"><div class="ttname"><a href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">Pin_KinDyn::inertia</a></div><div class="ttdeci">Eigen::Matrix3d inertia</div><div class="ttdoc">current Centroidal Composite Rigid Body Inertia.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00097">pino_kin_dyn.h:97</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a41fd7d14a83467e248a4392cddafd0d3"><div class="ttname"><a href="classPin__KinDyn.html#a41fd7d14a83467e248a4392cddafd0d3">Pin_KinDyn::urdf_path</a></div><div class="ttdeci">std::string urdf_path</div><div class="ttdoc">urdf model path</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00045">pino_kin_dyn.h:45</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8e90245dd880ed9dc08de1e745242e96"><div class="ttname"><a href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">Pin_KinDyn::computeInK_Hand</a></div><div class="ttdeci">IkRes computeInK_Hand(const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</div><div class="ttdoc">Inverse Kinematics for hand posture.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00334">pino_kin_dyn.cpp:334</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a186ab4dcf146680f38113f9cbd55de24"><div class="ttname"><a href="classPin__KinDyn.html#a186ab4dcf146680f38113f9cbd55de24">Pin_KinDyn::CoM_pos</a></div><div class="ttdeci">Eigen::Vector3d CoM_pos</div><div class="ttdoc">current com position in world coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00096">pino_kin_dyn.h:96</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6058dfad40de7d8ac0e8b943dc28eb05"><div class="ttname"><a href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">Pin_KinDyn::dJ_hd_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_hd_l</div><div class="ttdoc">jacobian time variation matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00065">pino_kin_dyn.h:65</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6454448c08ce057ec17466dcafd96666"><div class="ttname"><a href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">Pin_KinDyn::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">generalized coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00052">pino_kin_dyn.h:52</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab80c3e1eded085ad3212d533e6508f20"><div class="ttname"><a href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">Pin_KinDyn::integrateDIY</a></div><div class="ttdeci">Eigen::VectorXd integrateDIY(const Eigen::VectorXd &amp;qI, const Eigen::VectorXd &amp;dqI)</div><div class="ttdoc">intergrate the position q with velocity dq, for floating base dynamics</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00185">pino_kin_dyn.cpp:185</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a1d528b488460f27b8bac70d1e26d9ee1"><div class="ttname"><a href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">Pin_KinDyn::dyn_G</a></div><div class="ttdeci">Eigen::MatrixXd dyn_G</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00092">pino_kin_dyn.h:92</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6235d4189f80a1b2ccc5cfeb6c549ca3"><div class="ttname"><a href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">Pin_KinDyn::motorReachLimit</a></div><div class="ttdeci">std::vector&lt; bool &gt; motorReachLimit</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00031">pino_kin_dyn.h:31</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_afc16893d044c20781a288c5c1710257f"><div class="ttname"><a href="classPin__KinDyn.html#afc16893d044c20781a288c5c1710257f">Pin_KinDyn::hip_r_pos</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos</div><div class="ttdoc">right hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00076">pino_kin_dyn.h:76</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae93c8e81370ff96aa2dc26ff9c92b0a0"><div class="ttname"><a href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">Pin_KinDyn::Pin_KinDyn</a></div><div class="ttdeci">Pin_KinDyn(std::string urdf_pathIn)</div><div class="ttdoc">Construct a new Pin_KinDyn object.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00012">pino_kin_dyn.cpp:12</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a040ff598ac7b277f467afafae01d2987"><div class="ttname"><a href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">Pin_KinDyn::J_hd_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00060">pino_kin_dyn.h:60</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6e72e11b7c2a7c648a9599e9e912a6f8"><div class="ttname"><a href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">Pin_KinDyn::hd_r_rot</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot</div><div class="ttdoc">right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00085">pino_kin_dyn.h:85</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a7a635e50f51c600f0cf05d5dc0d60546"><div class="ttname"><a href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">Pin_KinDyn::ddq</a></div><div class="ttdeci">Eigen::VectorXd ddq</div><div class="ttdoc">generalized coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00054">pino_kin_dyn.h:54</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a36ba08e3ad2dbf911385d54b06f3c0d3"><div class="ttname"><a href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">Pin_KinDyn::dJ_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_r</div><div class="ttdoc">jacobian time variation matrix of right leg</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00064">pino_kin_dyn.h:64</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a136c294262a7f8a4172c9efb5dec2627"><div class="ttname"><a href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">Pin_KinDyn::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00089">pino_kin_dyn.h:89</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a246c8be67c0f4cadbd6ff9f6289d8808"><div class="ttname"><a href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">Pin_KinDyn::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">generalized coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00053">pino_kin_dyn.h:53</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a11219e9adc1cdbc5ed664c173d1300a8"><div class="ttname"><a href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">Pin_KinDyn::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;robotState)</div><div class="ttdoc">write data to databus</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00077">pino_kin_dyn.cpp:77</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a5d602e453d2796799dce4fbfac4484b5"><div class="ttname"><a href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">Pin_KinDyn::J_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_l</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00058">pino_kin_dyn.h:58</a></div></div>
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